version: 66.12
revision: CLOWNFISH
glider: 574
mission: 23
dive: 481
start: 7 29 117 20 48 43
data:
$ID,574
$MISSION,23
$DIVE,481
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,1000
$D_ABORT,1050
$D_NO_BLEED,500
$D_BOOST,5
$T_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,333
$T_MISSION,343
$T_ABORT,400
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,0
$APOGEE_PITCH,0
$MAX_BUOY,180
$COURSE_BIAS,0
$GLIDE_SLOPE,17
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52970
$MASS_COMP,0
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$HEADING,300
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4808
$TGT_DEFAULT_LON,-12223
$TGT_AUTO_DEFAULT,0
$SM_CC,320
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,0
$N_NOCOMM,1
$NOCOMM_ACTION,0
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,400000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,143
$PITCH_MAX,3888
$C_PITCH,2810
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,-6.8056469e+38
$PITCH_GAIN,57
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,245
$ROLL_MAX,3880
$ROLL_DEG,40
$C_ROLL_DIVE,2050
$C_ROLL_CLIMB,1800
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,70
$R_STBD_OVSHOOT,72
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3961
$C_VBD,2465
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,20
$AH0_24V,145
$AH0_10V,96.25
$MINV_24V,19
$MINV_10V,8.5
$MAXI_24V,0.60000002
$MAXI_10V,0.80000001
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-48.230709
$PRESSURE_SLOPE,0.0001171049
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,15
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,200
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,38
$DEVICE3,51
$DEVICE4,69
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,17
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043017557
$SEABIRD_T_H,0.00062339538
$SEABIRD_T_I,2.3377639e-05
$SEABIRD_T_J,2.5612862e-06
$SEABIRD_C_G,-9.9136524
$SEABIRD_C_H,1.1456692
$SEABIRD_C_I,-0.00078246131
$SEABIRD_C_J,0.00012677554
$GPS1,290717,204140,-3304.1033,2815.6604,5,1.7,5,-27.4,0.0,0.0,6,57.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.98
$_SM_ANGLEo,-79.1
$GPS2,290717,204756,-3304.1274,2815.5674,5,1.7,5,-27.4,0.0,0.0,6,59.1
$SPEED_LIMITS,0.327,0.337
$TGT_NAME,HEADING
$TGT_LATLONG,-3258.728,2804.419
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,327.4,20000,-13.3,-10.010,-16.52,4021
$D_GRID,1000
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,pitch_ad_start,roll_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,vbd_pot1_ad,vbd_pot2_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,13,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.45,-175.2,127,2014,1227,1068,0.0,0.0,0,80,0.00,0.00,-62.00,0.000,16386,0.000,0.000,128,2011,2880,2885,2876,0,0,0,0,0,0,26.18,28.83,26.20
$GC,83,-0.45,-175.2,128,2012,2886,2875,3.7,-3.9,8,109,9.80,2.08,-5.85,0.000,18948,0.213,0.041,2656,671,3183,3219,3147,0,0,0,0,0,0,25.28,24.21,25.47
$GC,118,-0.45,-175.2,2655,671,3220,3147,15.3,-29.9,12,127,0.00,2.10,0.00,0.000,1030,0.000,0.026,2648,2021,3183,3224,3143,0,0,0,0,0,0,25.91,25.87,25.94
$GC,177,-0.45,-175.2,2647,2021,3226,3141,25.3,-16.0,21,186,0.00,2.20,0.00,0.000,260,0.000,0.034,2637,3449,3183,3226,3141,0,0,0,0,0,0,26.29,25.86,26.29
$GC,229,-0.45,-175.2,2636,3449,3227,3140,33.5,-14.4,29,238,0.00,2.10,0.00,0.000,1030,0.000,0.026,2637,2077,3183,3228,3138,0,0,0,0,0,0,25.97,25.94,26.00
$GC,433,-0.45,-175.2,2636,2073,3231,3138,63.2,-13.0,66,442,0.00,2.20,0.00,0.000,516,0.000,0.032,2637,644,3184,3231,3137,0,0,0,0,0,0,26.43,25.98,26.44
$GC,496,-0.45,-175.2,2636,644,3231,3137,71.0,-11.1,77,503,0.12,2.15,0.00,0.000,3078,0.164,0.029,2664,2056,3184,3231,3138,0,0,0,0,0,0,25.71,26.04,25.86
$GC,695,-0.45,-175.2,2663,2056,3233,3137,90.7,-10.3,114,704,0.00,2.12,0.00,0.000,260,0.000,0.034,2654,3456,3185,3233,3137,0,0,0,0,0,0,26.51,26.06,26.53
$GC,780,-0.45,-175.2,2654,3456,3234,3138,99.2,-10.5,129,787,0.00,2.10,0.00,0.000,1030,0.000,0.025,2655,2047,3186,3234,3138,0,0,0,0,0,0,26.20,26.12,26.22
$GC,974,-0.45,-175.2,2654,2043,3236,3137,120.4,-10.8,149,978,0.00,2.10,0.00,0.000,516,0.000,0.029,2654,644,3186,3236,3137,0,0,0,0,0,0,26.57,26.11,26.58
$GC,1038,-0.45,-175.2,2654,643,3236,3137,127.2,-10.7,155,1045,0.00,2.12,0.00,0.000,1030,0.000,0.029,2645,2050,3186,3236,3137,0,0,0,0,0,0,26.22,26.13,26.25
$GC,1225,-0.45,-175.2,2644,2050,3237,3137,149.4,-11.2,174,1234,0.00,2.12,0.00,0.000,260,0.000,0.034,2634,3469,3186,3236,3136,0,0,0,0,0,0,26.60,26.12,26.61
$GC,1276,-0.45,-175.2,2634,3468,3237,3137,154.9,-10.6,179,1286,0.10,2.10,0.00,0.000,3078,0.149,0.025,2667,2049,3187,3237,3137,0,0,0,0,0,0,25.93,26.17,26.06
$GC,1468,-0.45,-175.2,2666,2044,3237,3137,171.8,-8.3,198,1476,0.00,2.08,0.00,0.000,516,0.000,0.029,2668,645,3186,3237,3136,0,0,0,0,0,0,26.63,26.15,26.64
$GC,1512,-0.45,-175.2,2666,644,3237,3137,175.7,-9.0,202,1519,0.00,2.12,0.00,0.000,1030,0.000,0.027,2658,2056,3187,3237,3137,0,0,0,0,0,0,26.27,26.18,26.29
$GC,1699,-0.45,-175.2,2658,2056,3237,3136,195.0,-10.1,221,1707,0.00,2.08,0.00,0.000,260,0.000,0.033,2647,3460,3186,3237,3136,0,0,0,0,0,0,26.64,26.15,26.65
$GC,1764,-0.45,-175.2,2647,3460,3237,3136,201.4,-9.8,227,1769,0.00,2.10,0.00,0.000,1030,0.000,0.024,2647,2040,3186,3237,3136,0,0,0,0,0,0,26.29,26.20,26.31
$STATE,1902,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1902,begin apogee
$GC,1907,0.00,0.0,2647,1757,3237,3136,216.5,-10.7,234,2044,0.52,0.00,131.98,0.721,10246,0.127,0.000,2810,1754,2464,2533,2396,0,0,0,0,0,0,25.70,24.99,24.41
$STATE,2045,end apogee,CONTROL_FINISHED_OK
$STATE,2045,begin climb
$GC,2047,0.45,175.2,2810,1754,2532,2396,223.1,0.0,241,2192,0.43,2.35,134.38,0.707,10500,0.052,0.030,2978,3205,1749,1845,1653,0,0,0,0,0,0,25.18,24.84,24.27
$GC,2273,0.45,175.2,2978,3205,1841,1651,205.5,12.7,252,2278,0.10,2.08,0.00,0.000,5126,0.173,0.029,2961,1849,1745,1841,1650,0,0,0,0,0,0,25.21,25.45,25.37
$GC,2461,0.45,175.2,2960,1849,1840,1648,182.2,11.8,268,2470,0.00,2.22,0.00,0.000,516,0.000,0.034,2970,398,1742,1836,1648,0,0,0,0,0,0,26.16,25.74,26.17
$GC,2522,0.45,175.2,2969,398,1828,1648,174.7,12.0,274,2531,0.00,2.15,0.00,0.000,1030,0.000,0.026,2970,1800,1739,1830,1648,0,0,0,0,0,0,25.95,25.87,25.98
$GC,2712,0.45,175.2,2969,1800,1832,1648,150.5,12.4,293,2721,0.00,2.12,0.00,0.000,260,0.000,0.031,2970,3215,1739,1831,1648,0,0,0,0,0,0,26.36,25.96,26.37
$GC,2813,0.45,175.2,2969,3215,1832,1648,139.0,10.8,303,2822,0.00,2.15,0.00,0.000,1030,0.000,0.030,2980,1800,1740,1832,1648,0,0,0,0,0,0,26.10,26.01,26.13
$GC,3003,0.45,175.2,2979,1800,1831,1648,116.0,11.9,322,3012,0.00,2.17,0.00,0.000,516,0.000,0.035,2991,383,1737,1827,1648,0,0,0,0,0,0,26.47,26.00,26.48
$GC,3024,0.45,175.2,2990,383,1825,1648,113.6,11.6,324,3034,0.12,2.17,0.00,0.000,5126,0.163,0.028,2956,1806,1737,1827,1648,0,0,0,0,0,0,25.73,26.07,25.92
$GC,3217,0.49,210.8,2955,1809,1827,1648,94.9,9.1,348,3250,0.00,2.17,28.15,0.633,8452,0.000,0.030,2955,3211,1604,1707,1501,0,0,0,0,0,0,26.52,25.77,25.14
$GC,3301,0.49,210.8,2954,3211,1706,1500,85.7,10.4,362,3308,0.00,2.15,0.00,0.000,1030,0.000,0.028,2964,1790,1603,1706,1500,0,0,0,0,0,0,25.96,25.89,25.99
$GC,3499,0.49,210.8,2963,1790,1704,1497,62.4,11.2,399,3506,0.00,2.12,0.00,0.000,260,0.000,0.028,2964,3211,1600,1703,1497,0,0,0,0,0,0,26.39,25.98,26.39
$GC,3535,0.50,219.3,2963,3212,1703,1497,58.7,9.8,405,3549,0.00,2.15,8.15,0.552,9222,0.000,0.028,2973,1793,1569,1677,1462,0,0,0,0,0,0,26.09,26.01,25.14
$GC,3743,0.64,327.5,2973,1793,1673,1458,39.4,7.2,443,3837,0.10,2.28,84.80,0.614,10756,0.117,0.036,3053,393,1126,1262,991,0,0,0,0,0,0,26.07,25.04,24.70
$GC,3846,0.64,327.5,3052,393,1256,991,27.1,14.2,456,3856,0.10,2.25,0.00,0.000,5126,0.142,0.027,3022,1801,1122,1255,990,0,0,0,0,0,0,25.25,25.44,25.34
$STATE,4024,end climb,SURFACE_DEPTH_REACHED
$STATE,4024,begin surface coast
$FINISH,0.8,1.022945
$STATE,4049,end surface coast,CONTROL_FINISHED_OK
$STATE,4049,begin surface
$SM_CCo,4126,0.00,0.000,0,0,1115,330.90
$SM_GC,2.01,7.60,0.35,0.00,0.030,0.025,0.000,126,2173,1115,-8.29,-1.24,330.90,0,0,0,0,0,0,25.86,26.00,25.91
$IRIDIUM_FIX,-3251.89,2816.30,290717,190321
$TT8_MAMPS,0.025466,0.262899
$HUMID,59.17
$INTERNAL_PRESSURE,9.43396
$TCM_TEMP,16.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,200.0,31.2
$24V_AH,24.21,46.882
$10V_AH,10.15,24.178
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,19.000,65.125,387.450,0.000,0.000,25.034,22.671,218.176,0.500,0.000,11.562,1162.253,1405.710,440.985,1403.314,114.847,0.000,1015.850,0.000,1110.015,0.000,5.508,0.000
$DEVICE_MAMPS,213.435,187.425,721.395,0.000,0.000,91.800,160.000,223.000,420.000,0.000,32.960,12.360,2.190,12.360,38.580,49.810,0.000,16.100,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,333.451,101.623,428.795,437.187,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,7.490,45.690,50.180,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,343408
$DATA_FILE_SIZE,33748,489
$CAP_FILE_SIZE,69513,0
$CFSIZE,2097086464,2041905152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$WARN,PPS timeout
$GPS,290717,215823,-3304.271,2814.755,20,0.8,20,-27.4,0.5,274.3,11,298.9